CN117168447B - Foot binding type inertial pedestrian seamless positioning method enhanced by height Cheng Yaoshu - Google Patents
Foot binding type inertial pedestrian seamless positioning method enhanced by height Cheng Yaoshu Download PDFInfo
- Publication number
- CN117168447B CN117168447B CN202311132649.4A CN202311132649A CN117168447B CN 117168447 B CN117168447 B CN 117168447B CN 202311132649 A CN202311132649 A CN 202311132649A CN 117168447 B CN117168447 B CN 117168447B
- Authority
- CN
- China
- Prior art keywords
- height
- foot
- pedestrian
- inertial
- atmospheric pressure
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 34
- 238000005259 measurement Methods 0.000 claims abstract description 10
- 239000011159 matrix material Substances 0.000 claims description 20
- 230000001133 acceleration Effects 0.000 claims description 11
- 238000005070 sampling Methods 0.000 claims description 10
- 230000008859 change Effects 0.000 claims description 8
- 230000005021 gait Effects 0.000 claims description 7
- 230000001186 cumulative effect Effects 0.000 claims description 5
- 238000001514 detection method Methods 0.000 claims description 3
- 230000004069 differentiation Effects 0.000 claims description 3
- 239000013598 vector Substances 0.000 claims description 3
- 238000010276 construction Methods 0.000 claims description 2
- 210000002683 foot Anatomy 0.000 description 35
- 230000003993 interaction Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000002708 enhancing effect Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 210000003423 ankle Anatomy 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000036544 posture Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000000452 restraining effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Landscapes
- Navigation (AREA)
Abstract
The invention discloses a foot binding type inertial pedestrian seamless positioning method enhanced by a height Cheng Yaoshu, which comprises the following steps: acquiring measurement data of a triaxial accelerometer and a triaxial gyroscope of a foot-binding inertial sensor, and mechanically arranging to obtain position information of pedestrians; collecting the atmospheric pressure measured by a foot barometer sensor, converting the atmospheric pressure into the atmospheric pressure height, and then carrying out the height Cheng Yaoshu; and constructing a height constraint equation based on the steps, stairs and floor information derived from the indoor and outdoor three-dimensional maps, and further improving the elevation estimation of pedestrians. According to the invention, by constructing the elevation constraint model based on the barometer and the three-dimensional building model, the accuracy of the foot-binding inertial pedestrian positioning system on elevation estimation is enhanced, and the indoor and outdoor seamless pedestrian positioning method with light weight, low power consumption, high precision and high stability is realized.
Description
Technical Field
The invention belongs to the field of indoor and outdoor positioning, and particularly relates to a foot binding type inertial pedestrian seamless positioning method enhanced by a height Cheng Yaoshu.
Background
With the massive popularization of consumer-level terminals such as smart phones and wearable devices, the demands of mass users for accurate, continuous and reliable indoor and outdoor seamless navigation positioning services are increasing. Although accurate position information can be obtained through global satellite navigation systems (such as Beidou, GPS and GLONASS) in outdoor environments, satellite navigation cannot meet the requirement of accurate positioning in indoor environments and in the elevation direction. With the low cost, portability and high efficiency of micro-electromechanical system inertial sensor (MEMS-IMU) technology, MEMS-IMU based positioning services are becoming a popular area of research.
The inertial navigation system is an autonomous positioning method capable of obtaining positions, speeds and postures without depending on any infrastructure and historical data, and is widely applied to position-based services such as path planning, emergency rescue, military operations, intelligent spaces (such as airports, railway stations and shopping malls) and the like. However, the inherent problems such as insufficient observation of altitude information have become one of the obstacles restricting the application and development of the inertial navigation system for pedestrians. The high divergence is also a main problem of the foot-binding inertial pedestrian positioning system based on the MEMS-IMU in indoor and outdoor seamless positioning, which can lead to good plane positioning accuracy and poor elevation positioning accuracy under the same floor. Therefore, it is necessary to introduce additional observation information to improve the estimation accuracy of the elevation direction.
Disclosure of Invention
In order to solve the technical problems, the invention provides a foot binding type inertial pedestrian seamless positioning method enhanced by a height Cheng Yaoshu so as to solve the problems in the prior art, and in order to achieve the purposes of the invention, the invention adopts the following technical scheme:
a foot binding type inertial pedestrian seamless positioning method enhanced by a height Cheng Yaoshu comprises the following steps:
s1: acquiring measurement data of a triaxial accelerometer and a triaxial gyroscope of a foot inertial sensor, and mechanically arranging to obtain the position information of pedestrians;
s2: collecting the atmospheric pressure measured by a foot barometer sensor, converting the atmospheric pressure into the atmospheric pressure height, and then carrying out the height Cheng Yaoshu;
s3: and constructing a height constraint equation based on the steps, stairs and floor information derived from the indoor and outdoor three-dimensional maps, and improving the accuracy of pedestrian elevation estimation.
Further, in the step S1, when the measuring data of the instrument is collected, the method includes the following steps:
The original data of the accelerometer and the gyroscope at the kth moment, which are output by the foot inertial sensor, are respectively And/>The measurement data at a certain sampling point can be described as:
Where k represents the kth time sample point, x k represents the six-dimensional data of the foot inertial sensor at the observed time, Representing the real number domain.
Further, in the step S1, when the mechanical arrangement is performed to obtain the position information of the pedestrian, the following method is adopted:
defining b as a carrier coordinate system, and n as a navigation coordinate system;
construction of rotation matrix from b-series to n-series Satisfy the following requirements
Wherein SO (3) represents a set of three-dimensional rotation matrices,Is/>I represents an identity matrix, det is a determinant operation; in combination with the sampling of the foot inertial sensor at time k, the output of the inertial navigation system at time k is calculated by the following mechanical programming equation:
Wherein, And/>Respectively representing a rotation matrix, a velocity matrix and a position matrix at the moment k/(And/>Respectively representing acceleration and angular velocity at the moment k, wherein [ (× ] is an oblique symmetric matrix of vectors, dt represents time differentiation, and T is a sampling period; solving the mechanical programming equation to obtain the position/>, at the kth moment, of the pedestrian
Further, acceleration in n seriesCalculated by the following formula:
where g n is a compensation value for the gravitational component in the navigation coordinate system.
Further, when the atmospheric pressure measured by the sensor of the barometer for feet is collected and converted into the air pressure height, the method comprises the following steps:
The barometric pressure P measured by the barometric sensor is related to the height h by:
Wherein P 0 is standard atmospheric pressure, P is the atmospheric pressure of the target position, R is the gas constant of dry air, M is the molar mass of dry air, g is standard gravitational acceleration, and T 0 is the temperature of the target position in Kelvin;
Using the base 10 logarithm, equation (6) is converted to the following equation:
where T is the temperature of the target location in degrees celsius.
Further, the method for carrying out the height Cheng Yaoshu comprises the following steps:
the observation model is constructed by the relative altitude information measured by the barometer mounted on the foot and the inertial navigation system:
Wherein, Representing the variation in barometric pressure altitude between two adjacent epochs; /(I)Representing a change in altitude of the inertial navigation system;
If the air pressure height variation between two successive gait is less than the set threshold, then the pedestrian is considered to be walking on a flat ground and will Set to zero to reduce the cumulative error in height.
Further, the method comprises the steps of:
let the height variation of the inertial navigation system integral of the pedestrian when crossing the kth step be The height change measured by the barometer at this time is/>
If the change of the air pressure height between two continuous gaits exceeds the threshold value, the pedestrian is considered to be in a stair scene, and the integral height of the inertial navigation system is corrected as follows:
The heights of each step and each floor, which are measured and acquired in the three-dimensional map, are delta h step and delta h floor respectively; the height of each section of stairs is 0.5 delta h floor; the barometer sensor detection threshold is set to σ=1.5Δh step.
The invention has the following beneficial effects:
(1) And improving the elevation positioning precision of the pedestrian navigation system: by introducing additional observation information such as barometers, three-dimensional map building models and the like, the estimation of the foot-binding inertial pedestrian positioning system on the elevation direction can be enhanced, more accurate elevation positioning is realized, and the accuracy of indoor and outdoor seamless navigation service is improved;
(2) And optimizing the light-weight and low-power consumption characteristics of indoor and outdoor seamless navigation service: by utilizing sensors such as barometers and the like to carry out elevation estimation, dependence on other sensors can be reduced, the design of a navigation system with light weight and low power consumption is realized, and the use requirements of mobile intelligent equipment are better met;
(3) And improving the stability and reliability of pedestrian location services: through constructing the elevation constraint model based on barometer and three-dimensional map, can assist to carry out more meticulous control and management to pedestrian location service, promote navigation positioning's stability and reliability, provide more outstanding indoor outer seamless navigation experience for the user.
Drawings
FIG. 1 is a flow chart of a foot-tie inertial pedestrian seamless positioning method enhanced by a height Cheng Yaoshu according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of elevation constraint based on a three-dimensional map according to an embodiment of the present invention;
FIG. 3 is a diagram of indoor and outdoor seamless positioning trajectories of foot-bound inertial pedestrians through elevation enhancement constraint provided by an embodiment of the present invention;
FIG. 4 is a graph showing the cumulative error distribution for providing indoor and outdoor seamless positioning of a foot-bound inertial pedestrian with elevation enhancement constraint in accordance with an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to fig. 1 to 4 in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, but not all embodiments, and the technical means used in the embodiments are conventional means known to those skilled in the art unless specifically indicated.
As shown in fig. 1, the invention firstly collects the three-axis accelerometer and three-axis gyroscope measurement data of a foot inertial sensor (foot binding type), and mechanically arranges the data to obtain the position information of pedestrians; then, the atmospheric pressure measured by a sensor of the foot barometer is collected and converted into the atmospheric pressure height, and then the atmospheric pressure is high Cheng Yaoshu; in addition, a height constraint equation is constructed based on the steps, stairs and floor information derived from the indoor and outdoor three-dimensional maps, so that the height estimation of pedestrians is further enhanced. By constructing an elevation constraint model based on barometer and a three-dimensional building model in a three-dimensional map, the accuracy of the foot-binding inertial pedestrian positioning system on elevation estimation is enhanced.
It is understood that the foot inertial sensor in the present invention may be worn on the foot of a pedestrian, preferably on the ankle portion, through a smart wearable device, a man-machine interaction device, a smart terminal, etc. The intelligent wearable device, the man-machine interaction device and the intelligent terminal are macroscopic concepts in the prior art. As long as the electronic equipment can be worn on feet, the electronic equipment for realizing the functions of various sports monitoring, health monitoring, navigation positioning and the like can be called as intelligent wearing equipment, man-machine interaction equipment and intelligent terminal.
Specifically, the present embodiment provides a foot-binding inertial pedestrian seamless positioning method enhanced by a height Cheng Yaoshu, where the positioning method includes the following steps:
S1: acquiring measurement data of a triaxial accelerometer and a triaxial gyroscope of a foot inertial sensor, and mechanically arranging to obtain the position information of pedestrians; it should be noted that the three-axis accelerometer and the three-axis gyroscope are integrated on the foot inertial sensor.
S2: collecting the atmospheric pressure measured by a foot barometer sensor, converting the atmospheric pressure into the atmospheric pressure height, and then carrying out the height Cheng Yaoshu;
S3: constructing a height constraint equation based on steps, stairs and floor information derived from a three-dimensional building model in the indoor and outdoor three-dimensional map, further enhancing the elevation estimation of pedestrians and improving the accuracy of the elevation estimation;
Specifically, the step S1 includes the following steps:
S1-1: collecting three-axis accelerometer and three-axis gyroscope measurement data of a foot inertial sensor: the foot inertial sensor may be a micro-electromechanical system inertial sensor (MEMS-IMU) which typically includes a tri-axial accelerometer and gyroscope and can measure state quantities such as acceleration and angular velocity.
The raw data at the kth moment of the accelerometer and gyroscope output by the foot inertial sensor are assumed to be respectivelyAnd/>The inertial sensor data at a certain sampling point can be described as:
where k represents the kth sample point, x k represents the six-dimensional data of the inertial sensor at the time of observation, Representing the real number domain.
S1-2: mechanically arranging the acquired inertial sensor data to obtain the position information of pedestrians;
defining b as the carrier coordinate system and n as the navigation coordinate system, both of which satisfy the right hand coordinate system. The navigation coordinates are arranged according to the sequence of the X-Y-Z axes, the carrier coordinates are the upper right front coordinate system, and the navigation coordinates are the northeast coordinate system. The gesture rotation matrix output by the inertial navigation system is Speed v n, position p n. Rotation matrix/>Is a special orthogonal matrix from b-series to n-series, meets the following requirements Wherein SO (3) represents a set of three-dimensional rotation matrices,/>Is/>I represents an identity matrix, det is a determinant operation.
Considering the sampling rate of the sensor and the speed of the pedestrian, some influence caused by the rotation of the earth is ignored, and the angle change between two successive positions is small. Thus, in connection with the sampling of the MEMS-IMU at time k, the output of the inertial navigation system at time k can be estimated by the following mechanical programming equation:
Wherein, And/>Respectively representing a rotation matrix, a velocity matrix and a position matrix at the moment k/(And/>Respectively representing acceleration and angular velocity at time k, [ ] × is a vector oblique symmetry matrix, dt represents time differentiation, and T is a sampling period; solving the mechanical programming equation to obtain the position/>, at the kth moment, of the pedestrianSince the acceleration a b measured by the IMU is the specific force, acceleration in the n-series/>Can be calculated by the following formula:
Where g n = [0, -9.81] compensates for the gravitational component in the navigation coordinate system.
Specifically, the step S2 includes the following steps:
s2-1: collecting the atmospheric pressure measured by a foot barometer sensor and converting the atmospheric pressure into an air pressure height;
the barometric pressure P measured by the barometer can be described as follows:
Where P 0 = 101325Pa represents the standard atmospheric pressure, P is the atmospheric pressure of the target location, R = 8.31446J/mol·k is the gas constant of dry air, and 1J = 1kg·m 2/s2, M = 0.02897kg/mol is the molar mass of dry air, g = 9.80665M/s 2 is the standard gravitational acceleration, and T 0 is the temperature of the target location in kelvin. Using the base 10 logarithm, equation (6) can be further converted to the following equation:
Where T is the temperature of the target location in degrees celsius, and T 0 (K) =t (° C) +273.15.
S2-2: the altitude of the inertial navigation system is constrained based on the barometric altitude measured by the foot barometer:
Without knowledge of the local sea level pressure, the barometric altitude does not yield absolute altitude information. At the same time, the atmospheric pressure itself is extremely susceptible to weather, temperature, air flow, etc., and it is difficult to maintain uniformity even at the same location. Therefore, we mainly use the relative altitude information measured by the barometer and inertial navigation system mounted on the foot to construct an observation model:
Wherein, Representing the variation in barometric pressure altitude between two adjacent epochs; /(I)Representing the height variation of inertial navigation system, which contains the height drift error of INS; if the height change between two successive gaits is less than a threshold (e.g., 10 cm), the pedestrian may be considered to be walking on a flat ground surface and willSet to zero to reduce the cumulative error in height.
Specifically, the step S3 includes:
Constructing a height constraint equation based on steps, stairs and floor information derived from the indoor and outdoor three-dimensional maps, and further enhancing the elevation estimation of pedestrians;
As shown in fig. 2, it is assumed that the height of the INS integral of the pedestrian across the kth step varies as The height change measured by the barometer at this time is/>If the change of the air pressure height between two continuous gaits exceeds the threshold value, the current pedestrian can be considered to be in a stair scene, and then the INS integral height is corrected as follows:
The heights of each step and each floor obtained from the measurement of the three-dimensional building model in the three-dimensional map are respectively delta h step and delta h floor; usually, two stairways are included in the corridor, and thus the height of each stairway is 0.5 delta h floor. A normal pedestrian can step over two steps with each gait while ascending and descending stairs, so the barometer detection threshold is set to σ=1.5Δh step.
By restraining the three-dimensional building model in the elevation direction, the indoor-outdoor seamless positioning precision of pedestrians, especially the elevation positioning precision, is further improved.
Fig. 3 is a three-dimensional positioning track of a pedestrian obtained based on the high Cheng Yaoshu enhanced foot-binding inertial pedestrian seamless positioning method provided by the invention. From the figure, the barometer and the three-dimensional building model enhanced inertial navigation algorithm can realize higher positioning accuracy. Even if the method comprises a plurality of pedestrian movement modes such as walking, running, elevator, stairs and the like, the method can still realize three-dimensional accurate track.
Fig. 4 is a graph showing cumulative error probability distribution of the proposed method and the conventional positioning method. Under the statistical index of one standard deviation (1 sigma, 68%), the method provided by the invention realizes that the closed track error is better than 1.1 m, and the traditional positioning algorithm can only reach 2.4 m. Compared with the traditional positioning algorithm, the foot binding type inertial pedestrian seamless positioning method enhanced by the elevation constraint effectively improves the positioning accuracy by 54.2%. The method and the device can improve the stability and reliability of navigation positioning and provide more excellent indoor and outdoor seamless navigation experience for users.
In addition, the inertial navigation system is usually an inertial sensor, and the method and system for calculating the position of the pedestrian after the sensor is installed on the foot are called the inertial navigation system.
The above embodiments are only illustrative of the preferred embodiments of the present invention and are not intended to limit the scope of the present invention, and various modifications, variations, alterations, substitutions made by those skilled in the art to the technical solution of the present invention should fall within the protection scope defined by the claims of the present invention without departing from the spirit of the design of the present invention.
Claims (3)
1. The foot binding type inertial pedestrian seamless positioning method enhanced by the height Cheng Yaoshu is characterized by comprising the following steps of:
s1: acquiring measurement data of a triaxial accelerometer and a triaxial gyroscope of a foot inertial sensor, and mechanically arranging to obtain the position information of pedestrians;
s2: collecting the atmospheric pressure measured by a foot barometer sensor, converting the atmospheric pressure into the atmospheric pressure height, and then carrying out the height Cheng Yaoshu;
S3: constructing a height constraint equation based on steps, stairs and floor information derived from the indoor and outdoor three-dimensional maps, and improving the accuracy of pedestrian elevation estimation;
in the step S1, when collecting measurement data, the method includes the following steps:
The original data of the accelerometer and the gyroscope at the kth moment, which are output by the foot inertial sensor, are respectively And/>The measurement data at a certain sampling point can be described as:
Where k represents the kth time sample point, x k represents the six-dimensional data of the foot inertial sensor at the observed time, Representing the real number domain;
In the step S1, when the mechanical arrangement is performed to obtain the position information of the pedestrian, the following method is adopted:
defining b as a carrier coordinate system, and n as a navigation coordinate system;
construction of rotation matrix from b-series to n-series The method meets the following conditions:
wherein SO (3) represents a set of three-dimensional rotation matrices, Is/>I represents an identity matrix, det is a determinant operation; in combination with the sampling of the foot inertial sensor at time k, the output of the inertial navigation system at time k is calculated by the following mechanical programming equation:
Wherein, And/>Respectively representing a rotation matrix, a velocity matrix and a position matrix at the moment k/(And/>Respectively representing acceleration and angular velocity at the moment k, wherein [ (× ] is an oblique symmetric matrix of vectors, dt represents time differentiation, and T is a sampling period; solving the mechanical programming equation to obtain the position/>, at the kth moment, of the pedestrian
In the step S2, when the atmospheric pressure measured by the sensor of the barometer for the foot is collected and converted into the air pressure height, the method comprises the following steps:
The barometric pressure P measured by the barometric sensor is related to the height h by:
Wherein P 0 is standard atmospheric pressure, P is the atmospheric pressure of the target position, R is the gas constant of dry air, M is the molar mass of dry air, g is standard gravitational acceleration, and T 0 is the temperature of the target position in Kelvin;
Using the base 10 logarithm, equation (6) is converted to the following equation:
wherein T is the temperature of the target location in degrees celsius;
In the step S2, when the elevation constraint is performed, the method includes the following steps:
the observation model is constructed by the relative altitude information measured by the barometer mounted on the foot and the inertial navigation system:
Wherein, Representing the variation in barometric pressure altitude between two adjacent epochs; /(I)Representing the height variation of an inertial navigation system;
If the air pressure height variation between two successive gait is less than the set threshold, then the pedestrian is considered to be walking on a flat ground and will Representing cumulative errors set to zero to reduce height.
2. The positioning method according to claim 1, wherein the acceleration in the n-seriesCalculated by the following formula:
where g n is a compensation value for the gravitational component in the navigation coordinate system.
3. The positioning method according to claim 1, wherein in the step S3, the positioning method comprises: let the height variation of the inertial navigation system integral of the pedestrian when crossing the kth step beThe height of the barometer is changed to
If the change of the air pressure height between two continuous gaits exceeds the threshold value, the pedestrian is considered to be in a stair scene, and the integral height of the inertial navigation system is corrected as follows:
The heights of each step and each floor, which are measured and acquired in the three-dimensional map, are delta h step and delta h floor respectively; the height of each section of stairs is 0.5 delta h floor; the barometer sensor detection threshold is set to σ=1.5Δh step.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311132649.4A CN117168447B (en) | 2023-09-04 | 2023-09-04 | Foot binding type inertial pedestrian seamless positioning method enhanced by height Cheng Yaoshu |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311132649.4A CN117168447B (en) | 2023-09-04 | 2023-09-04 | Foot binding type inertial pedestrian seamless positioning method enhanced by height Cheng Yaoshu |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN117168447A CN117168447A (en) | 2023-12-05 |
| CN117168447B true CN117168447B (en) | 2024-05-14 |
Family
ID=88944375
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311132649.4A Active CN117168447B (en) | 2023-09-04 | 2023-09-04 | Foot binding type inertial pedestrian seamless positioning method enhanced by height Cheng Yaoshu |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117168447B (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101250215B1 (en) * | 2012-05-31 | 2013-04-03 | 삼성탈레스 주식회사 | Pedestrian dead-reckoning system using kalman filter and walking state estimation algorithm and method for height estimation thereof |
| CN107218938A (en) * | 2017-05-22 | 2017-09-29 | 南京航空航天大学 | The Wearable pedestrian navigation localization method and equipment aided in based on modelling of human body motion |
| CN107990895A (en) * | 2017-11-08 | 2018-05-04 | 北京工商大学 | A kind of building floor gap pedestrian track tracking and system based on wearable IMU |
| CN109708630A (en) * | 2018-12-14 | 2019-05-03 | 北京航空航天大学 | A kind of high method of step strapdown survey based on SHE model |
| WO2019177471A1 (en) * | 2018-01-29 | 2019-09-19 | Uniwersytet Mikołaja Kopernika W Toruniu | A method of object localization, particularly of human beings, and a device for human localization |
| CN114459469A (en) * | 2022-01-14 | 2022-05-10 | 北京信息科技大学 | Multi-motion-state navigation method and device and intelligent wearable equipment |
| CN114719858A (en) * | 2022-04-19 | 2022-07-08 | 东北大学秦皇岛分校 | 3-dimensional positioning method based on IMU and floor height target compensation |
| CN116482735A (en) * | 2023-04-17 | 2023-07-25 | 江苏理工学院 | High-precision positioning method for inside and outside of limited space |
| CN116625362A (en) * | 2022-02-10 | 2023-08-22 | Oppo广东移动通信有限公司 | Indoor positioning method and device, mobile terminal and storage medium |
-
2023
- 2023-09-04 CN CN202311132649.4A patent/CN117168447B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101250215B1 (en) * | 2012-05-31 | 2013-04-03 | 삼성탈레스 주식회사 | Pedestrian dead-reckoning system using kalman filter and walking state estimation algorithm and method for height estimation thereof |
| CN107218938A (en) * | 2017-05-22 | 2017-09-29 | 南京航空航天大学 | The Wearable pedestrian navigation localization method and equipment aided in based on modelling of human body motion |
| CN107990895A (en) * | 2017-11-08 | 2018-05-04 | 北京工商大学 | A kind of building floor gap pedestrian track tracking and system based on wearable IMU |
| WO2019177471A1 (en) * | 2018-01-29 | 2019-09-19 | Uniwersytet Mikołaja Kopernika W Toruniu | A method of object localization, particularly of human beings, and a device for human localization |
| CN109708630A (en) * | 2018-12-14 | 2019-05-03 | 北京航空航天大学 | A kind of high method of step strapdown survey based on SHE model |
| CN114459469A (en) * | 2022-01-14 | 2022-05-10 | 北京信息科技大学 | Multi-motion-state navigation method and device and intelligent wearable equipment |
| CN116625362A (en) * | 2022-02-10 | 2023-08-22 | Oppo广东移动通信有限公司 | Indoor positioning method and device, mobile terminal and storage medium |
| CN114719858A (en) * | 2022-04-19 | 2022-07-08 | 东北大学秦皇岛分校 | 3-dimensional positioning method based on IMU and floor height target compensation |
| CN116482735A (en) * | 2023-04-17 | 2023-07-25 | 江苏理工学院 | High-precision positioning method for inside and outside of limited space |
Also Published As
| Publication number | Publication date |
|---|---|
| CN117168447A (en) | 2023-12-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106556854B (en) | A kind of indoor and outdoor navigation system and method | |
| CN102445200B (en) | Microminiature personal combined navigation system as well as navigating and positioning method thereof | |
| CA2653622C (en) | Method and system for locating and monitoring first responders | |
| Ladetto et al. | In step with INS navigation for the blind, tracking emergency crews | |
| US20130110397A1 (en) | Method and System for Detection of a Zero Velocity State of an Object | |
| CN104713554A (en) | Indoor positioning method based on MEMS insert device and android smart mobile phone fusion | |
| CN105445776A (en) | Indoor and outdoor seamless positioning system | |
| Luo et al. | Indoor multi-floor 3D target tracking based on the multi-sensor fusion | |
| CN109974694B (en) | Indoor pedestrian 3D positioning method based on UWB/IMU/barometer | |
| CN104251702B (en) | A kind of pedestrian navigation method measured based on relative pose | |
| CN112747747A (en) | Improved UWB/IMU fusion indoor pedestrian positioning method | |
| CN112004183B (en) | Robot autonomous positioning method based on convolution neural network fusion IMU and WiFi information | |
| Xiao et al. | Residual attention network-based confidence estimation algorithm for non-holonomic constraint in GNSS/INS integrated navigation system | |
| CN103471586A (en) | Sensor-assisted terminal combination positioning method and sensor-assisted terminal combination positioning device | |
| Deng et al. | Foot-mounted pedestrian navigation algorithm based on BOR/MINS integrated framework | |
| CN114111802A (en) | Pedestrian dead reckoning assisted UWB positioning method | |
| CN110260860B (en) | Indoor movement measurement positioning and attitude determination method and system based on foot inertial sensor | |
| Xia et al. | Autonomous pedestrian altitude estimation inside a multi-story building assisted by motion recognition | |
| CN117168447B (en) | Foot binding type inertial pedestrian seamless positioning method enhanced by height Cheng Yaoshu | |
| Xing et al. | The current status of development of pedestrian autonomous navigation technology | |
| CN105115507A (en) | Dual-mode indoor personal navigation system and method based on double IMUs | |
| Asano et al. | A robust pedestrian dead-reckoning positioning based on pedestrian behavior and sensor validity | |
| CN115406435B (en) | Indoor electronic map construction method, device and storage medium based on WLAN and MEMS | |
| CN104897157A (en) | Personal navigation system and method based on foot attitude-heading reference and shoulder electronic compass | |
| Zhang et al. | Indoor relative positioning method and experiment based on inertial measurement information/human motion model/UWB combined system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |